中文摘要：

永磁同步电主轴电流PI调节器存在阶跃响应超调与跟踪速度之间的矛盾，造成电流跟踪过程出现超调，增加了PI参数的整定难度。其原因主要是，控制的“快速性”与“超调”之间的矛盾是PI调节器的固有属性，为此，根据自抗扰控制理论，提出采用跟踪微分器为d轴和q轴电流指令安排过渡过程的方法，使PI调节器对输入电流阶跃信号的跟踪更加平滑。仿真和实验结果表明：相比于采用积分分离设计的PI调节器，该方法使电流更快速、平滑地跟踪指令值，且跟踪过程无超调，增强了电主轴电流控制的鲁棒性。

英文摘要：

The conflict between overshoot and response speed inherent in current PI regulator oI PMSS was difficult to resolve,which would lead to the overshoot in the current tracking process and increase the difficulty on tuning PI parameters. As the contradiction between ＂fast＂ and ＂overshoot＂ was the inherent property of PI regulator,based on auto--disturbances rejection control（ADRC） theo- ry,tracking- differentiator was adopted to arrange transient process for d/q current commands and the tracking process of PI regulator for current step signal was smoother. Simulation and experimental results show that, compared with integral separated PI regulator, the current values can track the commands more quickly and smoothly, and the overshoot in transient process is eliminated and the system robustness is strengthened.